﻿#ifndef ALGOTHREAD_H
#define ALGOTHREAD_H

#include <QObject>
#include <QThread>
#include <signalfactory.h>
#include <QDebug>
#include<algorithm>
#include<QtCore/qmath.h>
#include "Astar.h"
#include <qmath.h>
using namespace std;
class Plan{
public:
    Plan(){
        //路径规划的代码
        int a = 0;
    }
    ~Plan(){}
};


class AlgoThread : public QThread
{
    Q_OBJECT
public:
    explicit AlgoThread(QThread  *parent = nullptr);
    Plan* planner;
    int px[10000];
    int py[10000];
    int m_PointNum2;
    unsigned long long pointNum2;
//    std::vector<std::vector<int>> almaze;

protected:
    virtual void run();

signals:


public slots:
    void Plan(double sx, double sy, double ex, double ey);
    int DAPlan(int startx, int starty, int endx, int endy, int j);
};

#endif // ALGOTHREAD_H
